ROS integration in /feature/robot_model branch of Chrono fork

[jpmartin42]

System info: Ubuntu 22.04/ROS Humble

I'm interested in taking policies trained in Chrono and incorporating them into ROS; as a first step post-training and testing, I was curious about implementing the policy in the Chrono simulator itself, so I tried enabling the Chrono ROS module alongside the others necessary for interfacing with GymChrono.

There's a syntax error in the ChModueleROS.i file under chrono/src/chrono_swig/interface/ros that prevents the ROS module of Chrono from being built. Simply copy-pasting the current version in the main branch isn't feasible, since there have been a few syntax changes in the way the ROS interface works (where the default node name is given, for instance).

I've attached a fixed version of ChModuleROS.i that allows some Chrono ROS module examples to be built and run in feature/robot_model branch (I've added .txt to the filename as a very lazy way to get it to upload to this issue; change the name to remove that if you're gonna be using it).

ChModuleROS.i.txt

This lets me run the Python demos_ros_sensor.py demo, though I still get errors on the other Python demos and segfaults on the C++ demos.

I know this isn't the most critical for core GymChrono functionality but I thought I'd throw it up here in case it's relevant to anyone else!